相关论文: Self-Explainable Affordance Learning with Embodied…

This paper contributes a novel and modularized learning-based method for aerial robots navigating cluttered environments containing hard-to-perceive thin obstacles without assuming access to a map or the full pose estimation of the robot.…

We introduce environment predictive coding, a self-supervised approach to learn environment-level representations for embodied agents. In contrast to prior work on self-supervised learning for images, we aim to jointly encode a series of…

Navigation and manipulation are core capabilities in Embodied AI, yet training agents with these capabilities in the real world faces high costs and time complexity. Therefore, sim-to-real transfer has emerged as a key approach, yet the…

3D affordance segmentation aims to link human instructions to touchable regions of 3D objects for embodied manipulations. Existing efforts typically adhere to single-object, single-affordance paradigms, where each affordance type or…

Remote sensing change captioning is an emerging and popular research task that aims to describe, in natural language, the content of interest that has changed between two remote sensing images captured at different times. Existing methods…

Lexical semantics and cognitive science point to affordances (i.e. the actions that objects support) as critical for understanding and representing nouns and verbs. However, study of these semantic features has not yet been integrated with…

Gaze reflects how humans process visual scenes and is therefore increasingly used in computer vision systems. Previous works demonstrated the potential of gaze for object-centric tasks, such as object localization and recognition, but it…

Audio-visual embodied navigation, as a hot research topic, aims training a robot to reach an audio target using egocentric visual (from the sensors mounted on the robot) and audio (emitted from the target) input. The audio-visual…

Humans excel at learning from expert demonstrations and solving their own problems. To equip intelligent robots and assistants, such as AR glasses, with this ability, it is essential to ground human hand interactions (i.e., affordances)…

The rise of embodied AI applications has enabled robots to perform complex tasks which require a sophisticated understanding of their environment. To enable successful robot operation in such settings, maps must be constructed so that they…

Understanding spatial affordances -- comprising the contact regions of object interaction and the corresponding contact poses -- is essential for robots to effectively manipulate objects and accomplish diverse tasks. However, existing…

It is challenging for humans -- particularly those living with physical disabilities -- to control high-dimensional, dexterous robots. Prior work explores learning embedding functions that map a human's low-dimensional inputs (e.g., via a…

Heatmaps are widely used to interpret deep neural networks, particularly for computer vision tasks, and the heatmap-based explainable AI (XAI) techniques are a well-researched topic. However, most studies concentrate on enhancing the…

Learning high-level navigation behaviors has important implications: it enables robots to build compact visual memory for repeating demonstrations and to build sparse topological maps for planning in novel environments. Existing approaches…

Affordance grounding aims to locate objects' "action possibilities" regions, which is an essential step toward embodied intelligence. Due to the diversity of interactive affordance, the uniqueness of different individuals leads to diverse…

Learning to manipulate 3D objects in an interactive environment has been a challenging problem in Reinforcement Learning (RL). In particular, it is hard to train a policy that can generalize over objects with different semantic categories,…

Image captioning, a fundamental task in vision-language understanding, seeks to generate accurate natural language descriptions for provided images. Current image captioning approaches heavily rely on high-quality image-caption pairs, which…

Current language-guided robotic manipulation systems often require low-level action-labeled datasets for imitation learning. While object-centric flow prediction methods mitigate this issue, they remain limited to scenarios involving rigid…

Conventional works that learn grasping affordance from demonstrations need to explicitly predict grasping configurations, such as gripper approaching angles or grasping preshapes. Classic motion planners could then sample trajectories by…

While most conversational AI systems focus on textual dialogue only, conditioning utterances on visual context (when it's available) can lead to more realistic conversations. Unfortunately, a major challenge for incorporating visual context…